Research of Mobile Robot Path Planning Based on Genetic Algorithm
Path planning is an important task in the field of robot.A new method of dividing genetic algorithm(GA) process is proposed,which is different from the traditional method that considers smoothness in GA process.After calculating a path using simplified GA method with a variable length coding,a new type of clothoid curve with wipe parameter is introduced to smooth the sharp turns.In the entire path planning process,the parameter can be chosen adaptively to generate a robots walk path as soon as the barriers coordinate is entered.The simulation results show that the method of separating smooth process from GA process simplifies GA method.The proposed method could efficiently decrease the path length as well as increase the path smoothness.
Mobile robot Genetic algorithm Cyclotron curve Smooth Path planning
Jian ZHANG
School of Computer Engineering,Anhui Sanlian University,Hefei 230601,Anhui,China
国际会议
重庆
英文
354-360
2016-05-21（万方平台首次上网日期，不代表论文的发表时间）